Driving assistance device

Abstract

To improve the safety of operations of automatic driving vehicles.SOLUTION: A driving assistance device 10 includes a communication unit that communicates with a terminal device 20 of an operator 52 of an automatic driving vehicle 51, and a control unit that acquires a video captured with a camera 30 of a sidewalk which is adjacent to a roadway on which the automatic driving vehicle 10 is traveling and on which pedestrians walk, and when a pedestrian is detected in the acquired video, causes the terminal device 20 to display the video via the communication unit, and causes the terminal device 20 to end the display of the video via the communication unit before the automatic driving vehicle 51 passes a location where the camera 30 is installed.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a driving assistance device. [Background technology]

[0002] Patent Document 1 discloses an alert system that recognizes the behavior of autonomous vehicles that are scheduled to pass through a specified traffic area, and notifies vehicles other than autonomous vehicles or pedestrians whether they are allowed to pass through and issues warnings. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-050629 Summary of the Invention [Problem to be solved by the invention]

[0004] It is conceivable that an operator in the vehicle or at a remote location will assist the operation of an autonomous vehicle. To ensure smooth support, it is conceivable to present the operator with video of pedestrians. However, if the operator is constantly presented with video, there is a risk that the operator will neglect to visually check pedestrians.

[0005] An object of the present disclosure is to improve the safety of autonomous vehicle operations. [Means for solving the problem]

[0006] The driving assistance device according to the present disclosure comprises: a communication unit that communicates with a terminal device of an operator of the autonomous driving vehicle; a control unit that acquires a video obtained by capturing, with a camera, a sidewalk adjacent to a roadway on which the autonomous vehicle is traveling and on which pedestrians walk, and that, when detecting a pedestrian in the acquired video, causes the terminal device to display the video via the communication unit, and causes the terminal device to end display of the video via the communication unit before the autonomous vehicle passes a position where the camera is installed; Equipped with. [Effects of the Invention]

[0007] According to the present disclosure, the safety of operation of autonomous vehicles can be improved. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram illustrating a configuration of a system according to a first embodiment and a second embodiment of the present disclosure. [Figure 2] FIG. 2 is a diagram illustrating an example of use of the system according to the first and second embodiments of the present disclosure. [Figure 3] 1 is a block diagram showing a configuration of a driving assistance device according to a first embodiment and a second embodiment of the present disclosure. [Figure 4] 4 is a flowchart showing the operation of the driving assistance device according to the first embodiment of the present disclosure. [Figure 5] 6 is a flowchart showing the operation of a driving assistance device according to a second embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, several embodiments of the present disclosure will be described with reference to the drawings.

[0010] In each drawing, the same or corresponding parts are denoted by the same reference numerals. In the description of each embodiment, the description of the same or corresponding parts will be omitted or simplified as appropriate.

[0011] A first embodiment, which is an embodiment of the present disclosure, will be described.

[0012] The configuration of a system 1 according to this embodiment will be described with reference to FIG.

[0013] The system 1 according to this embodiment includes a driving assistance device 10, a terminal device 20, and a camera 30. The driving assistance device 10 is capable of communicating with the terminal device 20 via a network 40. The driving assistance device 10 is capable of communicating with the camera 30 via the network 40.

[0014] The driving assistance device 10 is installed in a facility such as a data center, etc. The driving assistance device 10 is a computer such as a server that belongs to a cloud computing system or other computing system.

[0015] The terminal device 20 is used by an operator 52 who assists in the operation of the autonomous vehicle 51. The operator 52 may be in the vehicle or in an external facility such as an operation control room. When the operator 52 is in the vehicle, the terminal device 20 is held by the operator 52. When the operator 52 is in an external facility, the terminal device 20 is installed in the external facility. The terminal device 20 is, for example, a mobile device such as a mobile phone, a smartphone, or a tablet, or a PC. "PC" is an abbreviation for personal computer.

[0016] As shown in FIG. 2, the camera 30 is installed in a position where it can capture an image of a sidewalk 55 adjacent to a roadway 54 on which an autonomous vehicle 51 travels and where pedestrians 53 walk. In the example shown in FIG. 2, the camera 30 is installed near a blind spot from the roadway 54, but the camera 30 may be installed directly in the blind spot. In the example shown in FIG. 2, the camera 30 is installed near a crosswalk 56 on the roadway 54, but the camera 30 may be installed directly on the crosswalk 56. In the example shown in FIG. 2, when a vehicle is traveling from left to right on the roadway 54, the portion of the sidewalk 55 that is blocked by a building 57 is in a blind spot from the roadway 54 until the vehicle passes the crosswalk 56. The camera 30 is supported by a long support such as a cylinder so as to be positioned at a desired height. In addition to the camera 30, the support may be equipped with a light such as an LED, a speaker, or a display to notify pedestrians 53 of the approach of the autonomous vehicle 51. "LED" is an abbreviation for light-emitting diode.

[0017] Network 40 may include the Internet, at least one WAN, at least one MAN, or any combination thereof. "WAN" is an abbreviation for wide area network. "MAN" is an abbreviation for metropolitan area network. Network 40 may include at least one wireless network, at least one optical network, or any combination thereof. A wireless network may be, for example, an ad-hoc network, a cellular network, a wireless LAN, a satellite communication network, or a terrestrial microwave network. "LAN" is an abbreviation for local area network.

[0018] The autonomous vehicle 51 is any type of automobile, such as a gasoline vehicle, a diesel vehicle, a hydrogen vehicle, an HEV, a PHEV, a BEV, or an FCEV. "HEV" is an abbreviation for hybrid electric vehicle. "PHEV" is an abbreviation for plug-in hybrid electric vehicle. "BEV" is an abbreviation for battery electric vehicle. "FCEV" is an abbreviation for fuel cell electric vehicle. In this embodiment, the autonomous vehicle 51 is an AV, and driving is automated at a high level. "AV" is an abbreviation for autonomous vehicle. The level of automation is, for example, either level 3 or level 4 in the SAE level classification. "SAE" is an abbreviation for Society of Automotive Engineers.

[0019] The outline of this embodiment will be described with reference to FIGS.

[0020] In this embodiment, the driving assistance device 10 acquires a video VD obtained by capturing an image of the sidewalk 55 with the camera 30. When the driving assistance device 10 detects a pedestrian 53 in the acquired video VD, the driving assistance device 10 causes the terminal device 20 to display the video VD. The pedestrian 53 is not limited to a person, but also includes a moving object that can travel on the sidewalk 55, such as a wheelchair. The driving assistance device 10 causes the terminal device 20 to end the display of the video VD before the autonomously driven vehicle 51 passes the position where the camera 30 is installed.

[0021] According to this embodiment, unlike when a video of pedestrians 53 is always presented to operator 52, operator 52 can be prompted to visually check automatically-operated vehicle 51 immediately before passing the position where camera 30 is installed. Therefore, the safety of operation of automatically-operated vehicle 51 can be improved.

[0022] In the example shown in FIG. 2 , an operator 52 is riding in an autonomous vehicle 51. The operator 52 operates a terminal device 20 and checks a notification from the terminal device 20. A pedestrian 53 is walking on a sidewalk 55 and is about to cross a crosswalk 56 on a roadway 54. The pedestrian 53 is located behind a building 57 that blocks the sidewalk 55 in the direction of travel of the autonomous vehicle 51, making it difficult for the operator 52 to see the pedestrian 53. A camera 30 is installed near a blind spot from the roadway 54, where the operator 52 cannot see the pedestrian 53. The camera 30 is facing away from the roadway 54 and photographs the sidewalk 55. The camera 30 can transmit a video VD obtained by photographing the sidewalk 55 to the driving assistance device 10 via the network 40. As another example, the camera 30 may be installed facing the entrance of the building 57, or may be installed on a path of pedestrians exiting the building 57 and heading toward the roadway 54.

[0023] The configuration of the driving support device 10 according to this embodiment will be described with reference to FIG.

[0024] The driving assistance device 10 includes a control unit 11, a storage unit 12, and a communication unit 13.

[0025] The control unit 11 includes at least one processor, at least one programmable circuit, at least one dedicated circuit, or any combination thereof. The processor is a general-purpose processor such as a CPU or GPU, or a dedicated processor specialized for specific processing. "CPU" is an abbreviation for central processing unit. "GPU" is an abbreviation for graphics processing unit. An example of the programmable circuit is an FPGA. "FPGA" is an abbreviation for field-programmable gate array. An example of the dedicated circuit is an ASIC. "ASIC" is an abbreviation for application specific integrated circuit. The control unit 11 controls each part of the driving assistance device 10 and executes processing related to the operation of the driving assistance device 10.

[0026] The storage unit 12 includes at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or any combination thereof. The semiconductor memory is, for example, a RAM or a ROM. "RAM" is an abbreviation for random access memory. "ROM" is an abbreviation for read only memory. RAM is, for example, an SRAM or a DRAM. "SRAM" is an abbreviation for static random access memory. "DRAM" is an abbreviation for dynamic random access memory. ROM is, for example, an EEPROM. "EEPROM" is an abbreviation for electrically erasable programmable read only memory. The storage unit 12 functions as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 12 stores data used in the operation of the driving assistance device 10 and data obtained by the operation of the driving assistance device 10.

[0027] The communication unit 13 includes at least one communication interface. The communication interface is, for example, a LAN interface. The communication unit 13 receives data used in the operation of the driving assistance device 10 and transmits data obtained by the operation of the driving assistance device 10.

[0028] The functions of the driving assistance device 10 are realized by executing a control program according to this embodiment on a processor serving as the control unit 11. That is, the functions of the driving assistance device 10 are realized by software. The control program causes a computer to execute the operations of the driving assistance device 10, thereby causing the computer to function as the driving assistance device 10. That is, the computer functions as the driving assistance device 10 by executing the operations of the driving assistance device 10 in accordance with the control program.

[0029] The program can be stored on a non-transitory computer-readable medium. Examples of non-transitory computer-readable media include flash memory, magnetic recording devices, optical disks, magneto-optical recording media, and ROMs. The program can be distributed by selling, transferring, or lending portable media such as SD cards, DVDs, or CD-ROMs that store the program. "SD" is an abbreviation for Secure Digital. "DVD" is an abbreviation for digital versatile disc. "CD-ROM" is an abbreviation for compact disc read only memory. The program can also be distributed by storing it in the storage of a server and transferring it from the server to another computer. The program can also be provided as a program product.

[0030] A computer temporarily stores a program stored on a portable medium or transferred from a server in its main storage device. The computer then reads the program stored in the main storage device using a processor and executes processing in accordance with the read program. The computer may also read the program directly from a portable medium and execute processing in accordance with the program. The computer may also execute processing in accordance with the received program each time a program is transferred from a server to the computer. Processing may also be executed through a so-called ASP-type service that achieves its functions by issuing execution instructions and obtaining results without transferring the program from the server to the computer. "ASP" is an abbreviation for application service provider. A program is information used for processing by a computer and includes something equivalent to a program. For example, data that is not a direct instruction to a computer but has properties that specify computer processing falls under the category of "something equivalent to a program."

[0031] Some or all of the functions of the driving assistance device 10 may be realized by a programmable circuit or a dedicated circuit as the control unit 11. In other words, some or all of the functions of the driving assistance device 10 may be realized by hardware.

[0032] The operation of the system 1 according to this embodiment will be described with reference to Fig. 4. This operation corresponds to the driving assistance method according to this embodiment.

[0033] In S101, the control unit 11 of the driving assistance device 10 acquires the video VD. Specifically, the control unit 11 receives the video VD from the camera 30 via the communication unit 13. The control unit 11 continues to receive the video VD while the autonomously driven vehicle 51 is traveling on the roadway 54, at least until the autonomously driven vehicle 51 passes the position where the camera 30 is installed.

[0034] In S102, the control unit 11 of the driving assistance device 10 detects a pedestrian 53 in the video VD acquired in S101. Specifically, the control unit 11 recognizes an object whose position changes between frames of the video VD acquired in S101 as a moving object. Any method can be adopted as a method for recognizing an object in a frame. The control unit 11 determines that the larger the rectangular area surrounding the recognized moving object, the closer the moving object is to the camera 30, and the smaller the rectangular area, the farther the moving object is from the camera 30. If the rectangular area becomes larger over time, the control unit 11 determines that the moving object is approaching the camera 30, and if the rectangular area becomes smaller, the moving object is moving away from the camera 30. If the rectangular area is equal to or larger than a predetermined size and is increasing over time, the control unit 11 detects the moving object as a pedestrian 53. The predetermined size is, for example, 10% of the frame size. If the rectangular area is smaller than a predetermined size or becomes smaller over time, the control unit 11 may not detect the moving object as a pedestrian 53. If a pedestrian 53 is detected, the control unit 11 proceeds to the process of S103. The control unit 11 repeats the process of recognizing the moving object in the frames of the moving image VD that are sequentially acquired until a pedestrian 53 is detected.

[0035] In S103, the control unit 11 of the driving assistance device 10 starts transmitting the video VD to the terminal device 20 via the communication unit 13. Specifically, the control unit 11 transmits the video VD in streaming format. At this time, the control unit 11 identifies the terminal device 20 as the terminal device that will transmit the video VD. Any method can be adopted as a method for identifying the terminal device that will transmit the video VD. As an example, the control unit 11 receives position data indicating the position of the terminal device 20 via the communication unit 13. The control unit 11 calculates the distance between the position indicated by the received position data and the position where the camera 30 is installed. If the calculated distance is within a predetermined distance range and the calculated distance is decreasing, the control unit 11 identifies the terminal device 20 as the terminal device that will transmit the video VD. If the calculated distance is larger than the predetermined distance range or the calculated distance is increasing, the control unit 11 does not identify the terminal device 20 as the terminal device that will transmit the video VD. The predetermined distance is, for example, 100 m. The control unit 11 continues to transmit the video VD to the terminal device 20 via the communication unit 13 until S106, which will be described later. The terminal device 20 receives the video VD transmitted from the driving assistance device 10. The terminal device 20 displays the received video VD on the screen of the display of the terminal device 20. By looking at the video VD displayed on the display, the operator 52 can confirm that the pedestrian 53 is approaching the roadway 54 and the crosswalk 56.

[0036] In the present embodiment, after detecting the pedestrian 53 in S102, the control unit 11 automatically causes the terminal device 20 to display the video VD. However, the control unit 11 may also cause the terminal device 20 to display the video VD in response to an operation by the operator 52. In such a modified example, when the terminal device 20 receives the video VD from the driving assistance device 10, the terminal device 20 displays a notification ND on the display screen indicating that the video VD can be displayed. The notification ND includes a graphic element for accepting an operation by the operator 52 to instruct the display of the video VD. The graphic element is, for example, a button such as a "video" button or an icon representing a pedestrian. The terminal device 20 may output the notification ND as sound from a speaker. The terminal device 20 accepts an operation by the operator 52 to instruct the display of the video VD. The operation is, for example, a tap on a graphic element. When the operator 52 taps the graphic element, that is, when the terminal device 20 accepts the operation, the terminal device 20 displays the video VD on the display screen.

[0037] In S104, the control unit 11 of the driving assistance device 10 sets a threshold distance TD. As will be described later, when the control unit 11 determines in S105 that the distance between the autonomously driven vehicle 51 and the camera 30 is equal to or less than the threshold distance TD, in S106 the control unit 11 ends the display of the video VD on the terminal device 20 via the communication unit 13. When the display of the video VD ends, it is considered that the operator 52 is likely to visually check the area ahead of or near the front of the autonomously driven vehicle 51. For example, when the operator 52 is inside the vehicle, it is considered that the operator 52 is likely to visually check the outside of the vehicle through the vehicle window when the display of the video VD ends, or visually check a real-time image of the outside of the vehicle captured by an on-board camera if the real-time image is displayed on the on-board display. Even when the operator 52 is in an external facility, it is considered that the operator 52 is likely to visually check a real-time image of the outside of the vehicle captured by an on-board camera if the real-time image is displayed on the display of the terminal device 20 when the display of the video VD ends. The threshold distance TD can be set by a method such as the one exemplified below.

[0038] As a first example, the control unit 11 may adjust the threshold distance TD depending on the weather. For example, when the weather is sunny, the control unit 11 sets the threshold distance TD to 30 m. When the weather is cloudy, the control unit 11 sets the threshold distance TD to 40 m. When the weather is cloudy, it is more difficult to visually see ahead of or near the front of the automatically driven vehicle 51 than when the weather is sunny, so the control unit 11 sets the threshold distance TD longer than when the weather is sunny. When the weather is rainy, the control unit 11 sets the threshold distance TD to 50 m. When the weather is rainy, it is more difficult to visually see ahead of or near the front of the automatically driven vehicle 51 than when the weather is cloudy, so the control unit 11 sets the threshold distance TD longer than when the weather is cloudy. When it is raining heavily, the control unit 11 may set the threshold distance TD longer than 50 m.

[0039] As a second example, the control unit 11 may adjust the threshold distance TD depending on the time period. For example, in the morning to noon time period when the sun is out, such as from 8:00 to 14:59, the control unit 11 sets the threshold distance TD to 30 m. In the early morning or evening time period when the sun is out, such as from 6:00 to 7:59 or from 15:00 to 17:59, the control unit 11 sets the threshold distance TD to 40 m. Because it is more difficult to visually see ahead of or near the front of the autonomously driven vehicle 51 during the early morning or evening time period than during the morning to noon time period, the control unit 11 sets the threshold distance TD to be longer than during the morning to noon time period. In the night to dawn time period when the sun is not out, such as from 18:00 to 5:59 the next day, the control unit 11 sets the threshold distance TD to 50 m. Because it is more difficult to visually see ahead of or near the front of the autonomously driven vehicle 51 during the night to dawn time period than during the early morning or evening time period, the control unit 11 sets the threshold distance TD to be longer than during the early morning or evening time period.

[0040] In S105, the control unit 11 of the driving assistance device 10 determines whether the distance between the autonomously driven vehicle 51 and the camera 30 is equal to or less than the threshold distance TD. Any method can be used to determine whether the distance is equal to or less than the threshold distance TD. As an example, the control unit 11 receives position data indicating the position of the terminal device 20 via the communication unit 13. The control unit 11 calculates the distance between the position indicated by the received position data and the position where the camera 30 is installed. If the control unit 11 determines that the calculated distance is equal to or less than the threshold distance TD set in S104, the control unit 11 proceeds to the processing of S106. The control unit 11 repeats the processing of S105 until it determines that the calculated distance is equal to or less than the threshold distance TD.

[0041] In S106, the control unit 11 of the driving assistance device 10 ends the transmission of the video VD. This ends the display of the video VD on the terminal device 20. That is, the control unit 11 causes the terminal device 20 to end the display of the video VD via the communication unit 13 before the autonomously driven vehicle 51 passes the position where the camera 30 is installed.

[0042] When the control unit 11 of the driving assistance device 10 ends the display of the video VD on the terminal device 20 in S106, the control unit 11 may cause the terminal device 20 to output a notification NV via the communication unit 13, urging the operator 52 to visually check for the pedestrian 53. Specifically, the control unit 11 may send the notification NV to the terminal device 20 via the communication unit 13. Upon receiving the notification NV, the terminal device 20 displays the notification NV on a display screen. The notification NV is, for example, a message such as "Please check ahead." The terminal device 20 may output the message by voice. The terminal device 20 may both display and output the message by voice. The control unit 11 continues to display or output the message by voice until the autonomously driven vehicle 51 passes the position where the camera 30 is installed. By ending the display of the video VD and outputting the message, the operator 52 can be explicitly prompted to visually check for the pedestrian 53.

[0043] As described above, in this embodiment, the control unit 11 of the driving assistance device 10 acquires a video VD obtained by capturing an image of the sidewalk 55 with the camera 30. When the control unit 11 of the driving assistance device 10 detects a pedestrian 53 in the acquired video VD, the control unit 11 causes the terminal device 20 to display the video VD via the communication unit 13. Before the autonomously driven vehicle 51 passes the position where the camera 30 is installed, the control unit 11 of the driving assistance device 10 causes the terminal device 20 to end the display of the video VD via the communication unit 13.

[0044] According to this embodiment, after the video VD is presented to the operator 52, the operator 52 can be implicitly or explicitly guided to visually check the subject captured by the camera 30. This can improve the safety of the operation of the autonomously driven vehicle 51.

[0045] The processes of S104 and S105 may be executed only when the operator 52 is inside the vehicle. For example, when the operator 52 is in an external facility, a process of determining whether or not the autonomously driven vehicle 51 has passed the position where the camera 30 is installed may be executed instead of the processes of S104 and S105. Alternatively, even when the operator 52 is inside the vehicle, when a second operator other than the operator 52 is in the external facility, a process of determining whether or not the autonomously driven vehicle 51 has passed the position where the camera 30 is installed may be executed for the second operator instead of the processes of S104 and S105. In such a modified example, when the control unit 11 of the driving assistance device 10 determines that the autonomously driven vehicle 51 has passed the position where the camera 30 is installed, the control unit 11 executes the process of S106.

[0046] In this embodiment, the threshold distance TD varies depending on the situation, but the threshold distance TD may be a fixed value. In such a modified example, the process of S104 can be omitted. The fixed value is, for example, 30 m.

[0047] As a modification of this embodiment, the control unit 11 of the driving assistance device 10 may adjust the timing to end the transmission of the video VD using a threshold time TT instead of the threshold distance TD. A second embodiment, which is such a modification, will be described.

[0048] The operation of the system 1 according to this embodiment will be described with reference to Fig. 5. This operation corresponds to the driving assistance method according to this embodiment.

[0049] The processes from S201 to S203 and S206 in FIG. 5 are the same as the processes from S101 to S103 and S106 in FIG. 4, and therefore the description thereof will be omitted.

[0050] In S204, the control unit 11 of the driving assistance device 10 sets a threshold time TT. If the control unit 11 determines in S205 that the time until the automatically driven vehicle 51 passes the position where the camera 30 is installed is equal to or less than the threshold time TT, in S206 the control unit 11 causes the terminal device 20 to end display of the video VD via the communication unit 13. The threshold time TT can be set by the following method, for example.

[0051] As a first example, the control unit 11 may adjust the threshold time TT depending on the weather. For example, when the weather is sunny, the control unit 11 sets the threshold time TT to 3 seconds. When the weather is cloudy, the control unit 11 sets the threshold time TT to 4 seconds. When the weather is cloudy, it is more difficult to visually see ahead of or near the front of the automatically driven vehicle 51 than when the weather is sunny, so the control unit 11 sets the threshold time TT longer than when the weather is sunny. When the weather is rainy, the control unit 11 sets the threshold time TT to 5 seconds. When the weather is rainy, it is more difficult to visually see ahead of or near the front of the automatically driven vehicle 51 than when the weather is cloudy, so the control unit 11 sets the threshold time TT longer than when the weather is cloudy. When it is raining heavily, the control unit 11 may set the threshold time TT to longer than 5 seconds.

[0052] As a second example, the control unit 11 may adjust the threshold time TT depending on the time period. For example, in the morning to noon time period when the sun is out, such as from 8:00 to 14:59, the control unit 11 sets the threshold time TT to 3 seconds. In the early morning or evening time period when the sun is out, such as from 6:00 to 7:59 or from 15:00 to 17:59, the control unit 11 sets the threshold time TT to 4 seconds. Because it is more difficult to visually see ahead of or near the front of the autonomously driven vehicle 51 during the early morning or evening time period than during the morning to noon time period, the control unit 11 sets the threshold time TT longer than during the morning to noon time period. In the night to dawn time period when the sun is not out, such as from 18:00 to 5:59 the next day, the control unit 11 sets the threshold time TT to 5 seconds. Because it is more difficult to visually see ahead of or near the front of the autonomously driven vehicle 51 during the night to dawn time period than during the early morning or evening time period, the control unit 11 sets the threshold time TT to 5 seconds.

[0053] In S205, the control unit 11 of the driving assistance device 10 determines whether the time until the autonomous vehicle 51 passes the position where the camera 30 is installed is equal to or less than the threshold time TT. Any method can be used to determine whether the time is equal to or less than the threshold time TT. As an example, the control unit 11 receives, via the communication unit 13, position data indicating the position of the terminal device 20 and vehicle speed data indicating the speed of the terminal device 20, i.e., the vehicle speed of the autonomous vehicle 51. The control unit 11 calculates the distance between the position indicated by the received position data and the position where the camera 30 is installed. The control unit 11 calculates the time until the autonomous vehicle 51 passes the position where the camera 30 is installed, based on the calculated distance and the vehicle speed indicated by the received vehicle speed data. If the control unit 11 determines that the calculated time is equal to or less than the threshold time TT set in S204, the control unit 11 proceeds to the processing of S206. The control unit 11 repeats the processing of S205 until it determines that the calculated time is equal to or less than the threshold time TT.

[0054] In this embodiment, the threshold time TT varies depending on the situation, but the threshold time TT may be a fixed value. In such a modified example, the process of S204 can be omitted. The fixed value is, for example, 3 seconds.

[0055] The present disclosure is not limited to the above-described embodiments. For example, two or more blocks shown in the block diagrams may be integrated, or one block may be divided. Two or more steps shown in the flowcharts may be executed in parallel or in a different order, instead of being executed in chronological order as described, depending on the processing capabilities of the device executing each step, or as needed. Other modifications are possible within the scope of the present disclosure. [Explanation of symbols]

[0056] 1 System 10 Driving assistance devices 11 Control section 12 Storage section 13 Communications Department 20 Terminal equipment 30 Camera 40 Network 51 Autonomous Vehicles 52 Operator 53 Pedestrians 54 Roadway 55 Sidewalk 56 Crosswalk 57 Building

Claims

1. a communication unit that communicates with a terminal device of an operator of the autonomous driving vehicle; a control unit that acquires a video obtained by capturing, with a camera, a sidewalk adjacent to a roadway on which the autonomous vehicle is traveling and on which pedestrians walk, and that, when detecting a pedestrian in the acquired video, causes the terminal device to display the video via the communication unit, and causes the terminal device to end display of the video via the communication unit before the autonomous vehicle passes a position where the camera is installed; A driving assistance device comprising:

2. 2. The driving assistance device according to claim 1, wherein the control unit causes the terminal device to end display of the video via the communication unit when it determines that the distance between the autonomous vehicle and the camera is equal to or less than a threshold distance, or when it determines that the time until the autonomous vehicle passes the location where the camera is installed is equal to or less than a threshold time.

3. The driving assistance device according to claim 2 , wherein the control unit adjusts the threshold distance or the threshold time depending on weather conditions.

4. The driving assistance device according to claim 2 , wherein the control unit adjusts the threshold distance or the threshold time depending on a time period.

5. 2. The driving assistance device according to claim 1, wherein, when the control unit causes the terminal device to end display of the video, the control unit causes the terminal device to output, via the communication unit, a notification urging the operator to visually check for the pedestrian.

Images